This has happened to me before and in general the tool continues to work mostly fine. I suppose there might be a drop in power output but I’ve never really noticed it. 

I realized that slightly more expensive brushless motor drills often come with an electronic control that will shut off the motor before it gets damaged from being overdriven. Those are useful for avoiding the problem altogether.

Bottom line in my experience is, keep using the tool until it stops working unless you have a good reason for an upgrade.